321 lines
17 KiB
C++
321 lines
17 KiB
C++
/**
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* @file BNO08x.hpp
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* @author Myles Parfeniuk
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*/
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#pragma once
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// standard library includes
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#include <inttypes.h>
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#include <stdio.h>
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#include <cstring>
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#include <functional>
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#include <vector>
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// esp-idf includes
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#include <esp_rom_gpio.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <freertos/event_groups.h>
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#include <freertos/queue.h>
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#include <freertos/semphr.h>
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#include <rom/ets_sys.h>
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// in-house includes
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#include "BNO08x_global_types.hpp"
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#include "BNO08xSH2HAL.hpp"
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/**
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* @class BNO08x
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*
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* @brief BNO08x IMU driver class.
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* */
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class BNO08x
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{
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public:
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inline static sh2_SensorConfig default_sensor_cfg = {.changeSensitivityEnabled = false, ///<TODO
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.changeSensitivityRelative = false,
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.wakeupEnabled = false,
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.alwaysOnEnabled = false,
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.changeSensitivity = 0,
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.reportInterval_us = 0,
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.batchInterval_us = 0,
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.sensorSpecific = 0};
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BNO08x(bno08x_config_t imu_config = bno08x_config_t());
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~BNO08x();
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bool initialize();
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void hard_reset();
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bool enable_rotation_vector(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_game_rotation_vector(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_gravity(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_linear_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_calibrated_magnetometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_step_counter(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_activity_classifier(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_calibrated_gyro(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_raw_mems_gyro(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_raw_mems_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bool enable_raw_mems_magnetometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
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bno08x_quat_t get_rotation_vector_quat();
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bno08x_euler_angle_t get_rotation_vector_euler(bool in_degrees = true);
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bno08x_quat_t get_game_rotation_vector_quat();
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bno08x_euler_angle_t get_game_rotation_vector_euler(bool in_degrees = true);
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bno08x_quat_t get_ARVR_stabilized_rotation_vector_quat();
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bno08x_euler_angle_t get_ARVR_stabilized_rotation_vector_euler(bool in_degrees = true);
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bno08x_quat_t get_ARVR_stabilized_game_rotation_vector_quat();
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bno08x_euler_angle_t get_ARVR_stabilized_game_rotation_vector_euler(bool in_degrees = true);
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bno08x_accel_data_t get_gravity();
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bno08x_accel_data_t get_linear_accel();
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bno08x_accel_data_t get_accel();
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bno08x_magf_data_t get_calibrated_magnetometer();
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bno08x_gyro_data_t get_calibrated_gyro();
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bno08x_raw_gyro_data_t get_raw_mems_gyro();
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bno08x_raw_accel_data_t get_raw_mems_accelerometer();
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bno08x_raw_magf_data_t get_raw_mems_magnetometer();
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bno08x_step_counter_data_t get_step_counter();
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void register_cb(std::function<void()> cb_fxn);
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void print_product_ids();
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private:
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/// @brief Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).
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typedef struct bno08x_init_status_t
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{
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bool gpio_outputs; ///< True if GPIO outputs have been initialized.
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bool gpio_inputs; ///< True if GPIO inputs have been initialized.
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bool isr_service; ///< True if global ISR service has been initialized.
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bool isr_handler; ///< True if HINT ISR handler has been initialized.
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bool spi_bus; ///< True if spi_bus_initialize() has been called successfully.
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bool spi_device; ///< True if spi_bus_add_device() has been called successfully.
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bool sh2_HAL; ///< True if sh2_open() has been called successfully.
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bool data_proc_task; ///< True if xTaskCreate has been called successfully for data_proc_task.
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bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
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uint8_t task_init_cnt; ///< Amount of tasks that have been successfully initialized.
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bno08x_init_status_t()
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: gpio_outputs(false)
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, gpio_inputs(false)
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, isr_service(false)
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, isr_handler(false)
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, spi_bus(false)
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, spi_device(false)
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, data_proc_task(false)
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, sh2_HAL_service_task(false)
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, task_init_cnt(0)
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{
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}
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} bno08x_init_status_t;
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/// @brief Holds data returned from sensor reports.
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typedef struct bno08x_data_t
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{
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bno08x_accel_data_t gravity;
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bno08x_accel_data_t linear_acceleration;
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bno08x_accel_data_t acceleration;
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bno08x_magf_data_t cal_magnetometer;
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bno08x_step_counter_data_t step_counter;
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bno08x_activity_classifier_data_t activity_classifier;
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bno08x_gyro_data_t cal_gyro;
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bno08x_raw_gyro_data_t mems_raw_gyro;
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bno08x_raw_accel_data_t mems_raw_accel;
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bno08x_raw_magf_data_t mems_raw_magnetometer;
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bno08x_quat_t rotation_vector;
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bno08x_quat_t game_rotation_vector;
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bno08x_quat_t arvr_s_rotation_vector;
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bno08x_quat_t arvr_s_game_rotation_vector;
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bno08x_data_t()
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: gravity({0.0f, 0.0f, 0.0f})
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, linear_acceleration({0.0f, 0.0f, 0.0f})
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, acceleration({0.0f, 0.0f, 0.0f})
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, cal_magnetometer({0.0f, 0.0f, 0.0f})
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, step_counter({0UL, 0U})
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, activity_classifier(bno08x_activity_classifier_data_t())
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, cal_gyro({0.0f, 0.0f, 0.0f})
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, mems_raw_gyro({0, 0, 0, 0, 0UL})
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, mems_raw_accel({0, 0, 0, 0UL})
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, mems_raw_magnetometer({0, 0, 0, 0UL})
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, rotation_vector(bno08x_quat_t())
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, game_rotation_vector(bno08x_quat_t())
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{
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}
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} bno08x_data_t;
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typedef struct bno08x_usr_report_periods_t
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{
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uint32_t gravity;
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uint32_t linear_accelerometer;
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uint32_t accelerometer;
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uint32_t cal_magnetometer;
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uint32_t step_counter;
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uint32_t activity_classifier;
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uint32_t cal_gyro;
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uint32_t raw_mems_gyro;
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uint32_t raw_mems_accelerometer;
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uint32_t raw_mems_magnetometer;
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uint32_t rotation_vector;
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uint32_t game_rotation_vector;
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uint32_t arvr_s_rotation_vector;
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uint32_t arvr_s_game_rotation_vector;
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bno08x_usr_report_periods_t()
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: gravity(0UL)
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, linear_accelerometer(0UL)
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, accelerometer(0UL)
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, cal_magnetometer(0UL)
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, step_counter(0UL)
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, activity_classifier(0UL)
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, cal_gyro(0UL)
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, raw_mems_gyro(0UL)
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, raw_mems_accelerometer(0UL)
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, raw_mems_magnetometer(0UL)
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, rotation_vector(0UL)
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, game_rotation_vector(0UL)
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, arvr_s_rotation_vector(0UL)
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, arvr_s_game_rotation_vector(0UL)
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{
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}
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} bno08x_usr_report_periods_t;
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bno08x_data_t data; ///< Holds all data returned from enabled reports.
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bno08x_usr_report_periods_t user_report_periods; ///< Holds periods for reports enabled by user (0 == disabled report)
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// data processing task
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TaskHandle_t data_proc_task_hdl; ///<data_proc_task() task handle
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static void data_proc_task_trampoline(void* arg);
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void data_proc_task();
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// sh2 service task
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TaskHandle_t sh2_HAL_service_task_hdl; ///<sh2_HAL_service_task() task handle
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static void sh2_HAL_service_task_trampoline(void* arg);
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void sh2_HAL_service_task();
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SemaphoreHandle_t sh2_HAL_lock; ///<Mutex to prevent sh2 HAL lib functions from being accessed at same time.
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SemaphoreHandle_t data_lock; ///<Mutex to prevent user from reading data while data_proc_task() updates it, and vice versa.
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SemaphoreHandle_t sem_kill_tasks; ///<Counting Semaphore to count amount of killed tasks.
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void lock_sh2_HAL();
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void unlock_sh2_HAL();
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void lock_user_data();
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void unlock_user_data();
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void handle_sensor_report(sh2_SensorValue_t* sensor_val);
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void update_rotation_vector_data(sh2_SensorValue_t* sensor_val);
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void update_game_rotation_vector_data(sh2_SensorValue_t* sensor_val);
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void update_arvr_s_rotation_vector_data(sh2_SensorValue_t* sensor_val);
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void update_arvr_s_game_rotation_vector_data(sh2_SensorValue_t* sensor_val);
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void update_gravity_data(sh2_SensorValue_t* sensor_val);
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void update_linear_accelerometer_data(sh2_SensorValue_t* sensor_val);
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void update_accelerometer_data(sh2_SensorValue_t* sensor_val);
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void update_calibrated_magnetometer_data(sh2_SensorValue_t* sensor_val);
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void update_step_counter_data(sh2_SensorValue_t* sensor_val);
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void update_activity_classifier_data(sh2_SensorValue_t* sensor_val);
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void update_calibrated_gyro_data(sh2_SensorValue_t* sensor_val);
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void update_raw_mems_gyro_data(sh2_SensorValue_t* sensor_val);
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void update_raw_mems_accel_data(sh2_SensorValue_t* sensor_val);
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void update_raw_mems_magnetometer_data(sh2_SensorValue_t* sensor_val);
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esp_err_t init_config_args();
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esp_err_t init_gpio();
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esp_err_t init_gpio_inputs();
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esp_err_t init_gpio_outputs();
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esp_err_t init_hint_isr();
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esp_err_t init_spi();
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esp_err_t init_tasks();
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esp_err_t init_sh2_HAL();
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esp_err_t deinit_gpio();
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esp_err_t deinit_gpio_inputs();
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esp_err_t deinit_gpio_outputs();
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esp_err_t deinit_hint_isr();
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esp_err_t deinit_spi();
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esp_err_t deinit_tasks();
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esp_err_t deinit_sh2_HAL();
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esp_err_t wait_for_hint();
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esp_err_t enable_report(sh2_SensorId_t sensor_ID, uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg);
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esp_err_t re_enable_reports();
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sh2_Hal_t sh2_HAL; ///< SH2 hardware abstraction layer struct for use with SH2 lib.
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EventGroupHandle_t evt_grp_bno08x_task; ///<Event group for indicating various BNO08x related events between tasks.
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EventGroupHandle_t evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
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QueueHandle_t queue_rx_sensor_event; ///< TODO
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std::vector<std::function<void()>> cb_list; // Vector for storing any call-back functions added with register_cb()
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bno08x_config_t imu_config{}; ///<IMU configuration settings
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spi_bus_config_t bus_config{}; ///<SPI bus GPIO configuration settings
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spi_device_interface_config_t imu_spi_config{}; ///<SPI slave device settings
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spi_device_handle_t spi_hdl{}; ///<SPI device handle
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spi_transaction_t spi_transaction{}; ///<SPI transaction handle
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bno08x_init_status_t
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init_status; ///<Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.
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sh2_ProductIds_t product_IDs; ///< TODO
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static void IRAM_ATTR hint_handler(void* arg);
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static const constexpr uint16_t RX_DATA_LENGTH = 300U; ///<length buffer containing data received over spi
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static const constexpr TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =
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500UL /
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portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), when no reports are enabled (ie during reset)
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static const constexpr TickType_t HARD_RESET_DELAY_MS =
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100UL /
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portTICK_PERIOD_MS; ///<How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)
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static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of
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static const constexpr float RAD_2_DEG =
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(180.0f / M_PI); ///< Constant for radian to degree conversions, sed in quaternion to euler function conversions.
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// evt_grp_bno08x_task bits
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static const constexpr EventBits_t EVT_GRP_BNO08x_TASKS_RUNNING =
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(1U << 0U); ///<When this bit is set it indicates the BNO08x tasks are running, it is always set to 1 for the duration BNO08x driver object. Cleared in deconstructor for safe task deletion.
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static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT =
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(1U << 1U); ///<When this bit is set it indicates the BNO08x has asserted its host interrupt pin, thus an SPI transaction should commence.
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static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_RESET_OCCURRED =
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(1U << 2U); ///<When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user must be re-enabled.
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// evt_grp_report_en bits
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static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT_EN = (1 << 0); ///< When set, rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT_EN = (1 << 1); ///< When set, game rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT_EN =
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(1U << 2U); ///< When set, ARVR stabilized rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT_EN =
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(1U << 3U); ///< When set, ARVR stabilized game rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT_EN =
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(1U << 4U); ///< When set, gyro integrator rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT_EN = (1U << 5U); ///< When set, accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT_EN =
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(1U << 6U); ///< When set, linear accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT_EN = (1U << 7U); ///< When set, gravity reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_CAL_GYRO_BIT_EN = (1U << 8U); ///< When set, gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT_EN = (1U << 9U); ///< When set, uncalibrated gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_CAL_MAGNETOMETER_BIT_EN = (1U << 10U); ///< When set, magnetometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT_EN = (1U << 11U); ///< When set, tap detector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT_EN = (1U << 12U); ///< When set, step counter reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT_EN =
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(1U << 13U); ///< When set, stability classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT_EN =
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(1U << 14U); ///< When set, activity classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT_EN = (1U << 15U); ///< When set, raw accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT_EN = (1U << 16U); ///< When set, raw gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT_EN = (1U << 17U); ///< When set, raw magnetometer reports are active.
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static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
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friend class BNO08xSH2HAL;
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}; |